This leaderbord shows the ranking for Model-based 6D detection of unseen objects on IC-BIN. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).
| Date (UTC) | Submission | Views | Test image | AP | APMSSD | APMSPD | Time (s) | |
|---|---|---|---|---|---|---|---|---|
| 2025-05-26 | FRTPose-WAPR（Multi 2D Detections） | Single | RGB-D | 0.745 | 0.755 | 0.734 | 53.274 | |
| 2024-12-09 | FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) | single | RGB-D | 0.727 | 0.738 | 0.716 | 40.068 | |
| 2025-05-23 | FRTPose-WAPR（Default Detection） | Single | RGB-D | 0.721 | 0.732 | 0.710 | 16.534 | |
| 2025-05-31 | FreeZeV2.2 | Single | RGB-D | 0.720 | 0.734 | 0.706 | 25.277 | |
| 2024-11-24 | FRTPose.v1 (MUSE) | single | RGB-D | 0.714 | 0.726 | 0.702 | 33.302 | |
| 2024-11-02 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.712 | 0.723 | 0.701 | 39.698 | |
| 2024-11-02 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.711 | 0.723 | 0.700 | 31.524 | |
| 2024-11-24 | FRTPose.v1 (SAM6D-FastSAM) | single | RGB-D | 0.708 | 0.721 | 0.695 | 32.019 | |
| 2024-11-24 | FRTPose.v1 (Default Detections) | single | RGB-D | 0.704 | 0.716 | 0.692 | 40.261 | |
| 2024-11-29 | FreeZeV2.1 | single | RGB-D | 0.696 | 0.711 | 0.681 | 37.975 | |
| 2025-05-21 | FRTPose-WAPR（MUSE） (conf-0.25) | Single | RGB-D | 0.683 | 0.696 | 0.670 | 1.308 | |
| 2024-09-19 | FreeZeV2 (SAM6D) (SAR threshold = -1) | single | RGB-D | 0.620 | 0.637 | 0.603 | 50.065 | |
| 2024-11-28 | Co-op (F3DT2D, Coarse, RGBD) (sel rescoring, Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.564 | 0.575 | 0.554 | 1.062 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) (0.45 to 0.25) | single | RGB-D | 0.531 | 0.544 | 0.518 | 12.153 | |
| 2024-09-26 | FreeZeV2 (SAM6D, Coarse-to-Fine) | single | RGB-D | 0.489 | 0.500 | 0.478 | 11.872 | |
| 2024-11-28 | Co-op (CNOS, Coarse, RGBD) (BOP 2024) | single | RGB-D | 0.469 | 0.479 | 0.459 | 2.167 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB | 0.467 | 0.443 | 0.491 | 11.352 | |
| 2024-09-17 | FreeZeV2 (SAM6D) | single | RGB-D | 0.458 | 0.469 | 0.448 | 7.559 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.458 | 0.467 | 0.449 | 6.370 | |
| 2024-09-20 | GigaPose+GenFlow (5 hypothesis) | single | RGB | 0.439 | 0.414 | 0.464 | 10.984 | |
| 2024-11-28 | Co-op (F3DT2D, 5 Hypo, RGBD) (Intel(R) Core(TM) i9-14900K, RTX4090) | Single | RGB-D | 0.426 | 0.429 | 0.424 | 18.066 | |
| 2024-11-28 | Co-op (CNOS, 1 Hypo) (BOP 2024) | Single | RGB | 0.409 | 0.389 | 0.429 | 6.414 | |
| 2024-11-28 | Co-op (CNOS, Coarse) (BOP 2024) | Single | RGB | 0.403 | 0.366 | 0.439 | 2.168 | |
| 2024-09-13 | GigaPose+GenFlow (RGBD) (threshold = 0.0) | Single | RGB-D | 0.402 | 0.420 | 0.384 | 3.439 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo, RGBD) (BOP 2024) | Single | RGB-D | 0.399 | 0.403 | 0.395 | 20.505 | |
| 2024-11-29 | Co-op (CNOS, 5 Hypo) (BOP 2024) | Single | RGB | 0.391 | 0.370 | 0.411 | 13.868 | |
| 2024-09-27 | GigaPose + GenFlow (threshold = 0.6) | Single | RGB | 0.353 | 0.336 | 0.370 | 3.510 | |
| 2024-09-18 | GigaPose+GenFlow+kabsch (5 hypothesis) | single | RGB-D | 0.292 | 0.297 | 0.286 | 11.643 | |
| 2024-09-18 | GigaPose-CVPR24 | single | RGB | 0.057 | 0.025 | 0.089 | 0.723 |
Tip: Hover over the numbers to see more decimal places.